nao_rail: nao_openni | nao_speech | nao_vision
Package Summary
The nao_speech package contains nodes to control the speech module on an Aldebaran NAO. Language and volume settings can be modified using this package. This package has been tested with NAOqi version 1.10.52.
- Author: Russell Toris
- License: BSD
- Repository: wpi-rail-ros-pkg
- Source: git https://github.com/WPI-RAIL/wpi-rail-ros-pkg
Nodes
nao_speech
nao_speech can remotely control the NAO's speech module. Text-to-speech messages can be sent, volume can be controlled, and the language can be set using this node.Subscribed Topics
nao_say (std_msgs/String)- The message to be sent to the NAO's speech module that is to be spoken.
- The volume level of the NAO's speech module in the range [0,1].
- The language that the NAO's speech module should use. This language must be installed on the NAO.
Parameters
/naoqi/host (string)- Hostname used to communicate with the Nao.
- Port used to communicate with the Nao.
- Optional path to the NAOqi /lib folder that can be used if your local PYTHONPATH does not include it.
- The volume level of the NAO's speech module in the range [0,1].
- The language that the NAO's speech module should use. This language must be installed on the NAO.
Startup
The nao_speech package contains a nao_speech.launch file which should be edited with the hostname and port of your NAO. Additionally, if your local PYTHONPATH does not include the path to your NAOqi /lib folder, an optional parameter can be set in the launch file. Parameters are also included to configure the volume and language of the NAO's speech module. These are set to the default values in the given launch file. This file launches an instance of the nao_speech node. To launch this node, the following commands can be used:
An example use of this packages can be found in the nao_tools package using the nao_terminal_talk node.
Support
Please feel free to contact me at any point with questions, comments, and bug reports.